Paper ID: 2308.05701

Exploring the Potential of World Models for Anomaly Detection in Autonomous Driving

Daniel Bogdoll, Lukas Bosch, Tim Joseph, Helen Gremmelmaier, Yitian Yang, J. Marius Zöllner

In recent years there have been remarkable advancements in autonomous driving. While autonomous vehicles demonstrate high performance in closed-set conditions, they encounter difficulties when confronted with unexpected situations. At the same time, world models emerged in the field of model-based reinforcement learning as a way to enable agents to predict the future depending on potential actions. This led to outstanding results in sparse reward and complex control tasks. This work provides an overview of how world models can be leveraged to perform anomaly detection in the domain of autonomous driving. We provide a characterization of world models and relate individual components to previous works in anomaly detection to facilitate further research in the field.

Submitted: Aug 10, 2023